Eventos Anais de eventos
DINAME 2023
XIX International Symposium on Dynamic Problems of Mechanics
Standing Self-Balancing Wheelchair
Submission Author:
Renan Imamura , SP
Co-Authors:
Renan Imamura, Décio Crisol Donha
Presenter: Renan Imamura
doi://10.26678/ABCM.DINAME2023.DIN2023-0175
Abstract
This paper describes the design and build of a small-scale prototype of a personal transporter for users with physical disabilities. The transporter allows the user to move similarly to a person without physical disabilities in an upright and balanced position and it is intended to work both as a regular electric wheelchair on four points on the ground or in an upright and balanced position supported by two parallel wheels on the ground, like a Segway. The paper presents the dynamic modeling of the system and the design of the multivariable controller by pole placement. The experimental work involves the use of an Arduino Mega control board, programmed in the C language, sensors, and the hardware to drive the two DC motors. The controller stabilize the wheelchair in the upright position, rejecting disturbances such as gentle pushing. The paper presents analytical and experimental results.
Keywords
personal transporter, upright position, balanced position, Segway, Arduino Mega
